Summary of Significant Accounting Policies - Schedule of Accounts Payable and Accrued Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Accounting Policies [Abstract]
Accounts payable	$ 5,550	$ 4,637
Accrued non-clinical liabilities	21,006	22,535
Accrued clinical liabilities	5,425	5,400
Total accounts payable and accrued liabilities	$ 31,981	$ 32,572